refactor(obstacle_avoidance_planner): clean up the code

[takayuki5168]

Signed-off-by: Takayuki Murooka takayuki5168@gmail.com

Description

Refactored obstacle_avoidance_planner

NOTE

• The default trajectory length for optimization (MPT and EB) is 1.0m * 100points = 100m.
• Curvature calculated from the input path is not used in MPT since the optimization result will be unstable for some reason.

Scenario Test
https://evaluation.tier4.jp/evaluation/reports/badb956d-c52a-5966-b68b-2f4ca4822259?project_id=prd_jt

TODO

• write a doc
  • docs(obstacle avoidance planner): update the docs #2963
• import missing PRs
  • ee98754
  • d6afa1b
  • 2d98ee8

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[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-2796/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-2796/planning/obstacle_avoidance_planner/
• https://autowarefoundation.github.io/autoware.universe/pr-2796/planning/obstacle_avoidance_planner/debug/
• https://autowarefoundation.github.io/autoware.universe/pr-2796/planning/obstacle_avoidance_planner/eb/
• https://autowarefoundation.github.io/autoware.universe/pr-2796/planning/obstacle_avoidance_planner/mpt/

[codecov]

Codecov Report

Patch coverage: 29.62% and project coverage change: +0.50 🎉

Comparison is base (7d15fdf) 11.65% compared to head (d991c39) 12.16%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2796      +/-   ##
==========================================
+ Coverage   11.65%   12.16%   +0.50%     
==========================================
  Files        1314     1324      +10     
  Lines       92818    93315     +497     
  Branches    25008    25294     +286     
==========================================
+ Hits        10821    11354     +533     
+ Misses      70646    70261     -385     
- Partials    11351    11700     +349     

Flag	Coverage Δ		*Carryforward flag
differential	13.67% <29.62%> (?)
total	11.73% <ø> (+0.07%)	⬆️	Carriedforward from 7d15fdf

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...e/interpolation/spline_interpolation_points_2d.hpp	83.33% <ø> (ø)
...lanner/include/obstacle_avoidance_planner/node.hpp	0.00% <0.00%> (ø)
...vehicle_model/vehicle_model_bicycle_kinematics.hpp	100.00% <ø> (ø)
...ng/obstacle_avoidance_planner/src/debug_marker.cpp	0.00% <0.00%> (ø)
...g/obstacle_avoidance_planner/src/mpt_optimizer.cpp	51.96% <ø> (+7.60%)	⬆️
...cle_avoidance_planner/src/utils/geometry_utils.cpp	0.00% <0.00%> (ø)
...optimizer/src/static_centerline_optimizer_node.cpp	26.83% <0.00%> (ø)
planning/obstacle_avoidance_planner/src/node.cpp	13.46% <11.57%> (+13.34%)	⬆️
...terpolation/src/spline_interpolation_points_2d.cpp	50.49% <28.57%> (+15.44%)	⬆️
...tacle_avoidance_planner/utils/trajectory_utils.hpp	37.50% <37.50%> (ø)
... and 20 more

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[purewater0901]

Lgtm

[takayuki5168]

pre-commit.ci run

[takayuki5168]

@mehmetdogru @beyzanurkaya
Sorry to share this with you late, but the following PRs' modification, which was recently merged, was removed with this large refactoring PR.
I will try to import the modification soon.

• ee98754
• d6afa1b
• 2d98ee8

[mehmetdogru]

@takayuki5168 I guess we will import the missing functionalities if you don't mind?

[takayuki5168]

@mehmetdogru
Ah, I'm so sorry to forget them.
Of course, it's fine for me that you will import them.
(FYI: If you want me to do it, I can start importing from July.)

[mehmetdogru]

@takayuki5168 no worries at all 😄 Then we will create the related PRs.